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1. 发明申请

US20150112484A1 TRAJECTORY CONTROL DEVICE AND CONTROL METHOD FOR ARTICULATED ROBOT 有权
标题翻译：轨道机器人控制装置及控制方法
公开(公告)号：US20150112484A1
公开(公告)日：2015-04-23
申请号：US14403311
申请日：2013-05-30
申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)
发明人： Yoshiharu Nishida , Takashi Wada , Yoshihide Inoue , Shuichi Inada
IPC分类号： B25J9/16 , B25J9/06
CPC分类号： B25J9/163 , B23K9/0216 , B23K9/173 , B25J9/06 , B25J9/1633 , B25J9/1664 , G05B19/4093 , G05B2219/41124 , G05B2219/41166 , G05B2219/41426 , G05B2219/42065 , G05B2219/45104 , G05B2219/49384 , Y10S901/02
摘要： In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (θc), and outputs a processed joint-angle target value (θd). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (200), and outputs a processed coupling-torque compensation value (cd).
摘要翻译：在关节式机器人的轨迹控制装置（10）中，第一动力特性计算单元（300）具有截止频率低于机器人的固有振动频率的高频截止特性，进行滤波处理相对于关节角度指令值（＆amp; t; c），并且输出处理的关节角度目标值（＆amp; t; d）。第二动态特性计算单元（400）具有截止频率低于第一动态特性计算单元（300）的截止频率的高频截止特性，相对于来自耦合的计算单元的输出进行滤波处理，转矩补偿指令值计算部（200），输出处理后的合成扭矩补偿值（cd）。

2. 发明申请

US20150290804A1 WEAVING CONTROL DEVICE FOR ARTICULATED ROBOT 有权
标题翻译：用于制作机器人的装配控制装置
公开(公告)号：US20150290804A1
公开(公告)日：2015-10-15
申请号：US14434083
申请日：2013-10-15
申请人： KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
发明人： Takashi Wada , Yoshiharu Nishida , Yoshihide Inoue , Shuichi Inada
IPC分类号： B25J9/16 , B23K9/02
CPC分类号： B23K9/0216 , B23K9/0953 , B23K9/173 , B25J9/10 , B25J9/1641 , Y10S901/42
摘要： A weaving control device of a multi-joint robot, which achieves high-precision weaving, and suppresses occurrence of weaving movement error stemming from the movement of another joint axis and the dynamic characteristics of the motor driving the joint axis. The weaving control device contains: a signal computation unit that computes the target position signal for each axis; a filter computation unit that computes a target command signal resulting from low-pass filter processing of the target position signal; and a motor control unit that drives each axis with the target command signal as an input. The frequency characteristics of the gain of the motor control unit are configured in an approximately flat manner, and the dynamic characteristics from the target position to the motor output angle are similar to the filter. A weaving signal correction unit computes a target position signal having a corrected gain on the basis of filter characteristics.
摘要翻译：一种多关节机器人的织造控制装置，其实现了高精度织造，并抑制了由另一关节轴线运动引起的织造运动误差的发生和驱动关节轴的电动机的动态特性。编织控制装置包括：信号计算单元，其计算各轴的目标位置信号; 滤波器计算单元，计算由目标位置信号的低通滤波处理得到的目标指令信号; 以及以目标指令信号作为输入驱动各轴的马达控制单元。马达控制单元的增益的频率特性被构造成大致平坦的方式，并且从目标位置到马达输出角度的动态特性类似于滤波器。编织信号校正单元基于滤波器特性来计算具有校正增益的目标位置信号。

3. 发明申请

US20150105905A1 ELASTIC-DEFORMATION-COMPENSATION CONTROL DEVICE AND CONTROL METHOD FOR ARTICULATED ROBOT 有权
标题翻译：弹性变形补偿控制装置及其机器人控制方法
公开(公告)号：US20150105905A1
公开(公告)日：2015-04-16
申请号：US14403320
申请日：2013-05-30
申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)
发明人： Yoshiharu Nishida , Takashi Wada , Yoshihide Inoue , Shuichi Inada
IPC分类号： B25J9/16 , B25J9/06
CPC分类号： B25J9/1692 , B23K9/0216 , B25J9/06 , B25J9/1641 , G05B2219/39186 , G05B2219/39201 , G05B2219/41166 , G05B2219/45104 , G05B2219/49384 , Y10S901/02
摘要： In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (θmc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (θmd). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).
摘要翻译：在弹性变形补偿控制装置（10）中，第一动力特性计算部（300）对从电动机角度指令值计算出的电动机角度指令值（＆amp; mc）进行滤波处理单元（600），并输出经处理的电动机角度目标值（“thetas; md”）。第二动态特性计算单元（400）具有截止频率低于第一动力特性计算单元（300）的截止频率的高频截止特性，对轴向力的输出进行滤波处理扭矩计算单元（200），并输出经处理的轴向力转矩补偿值（fd）。

4. 发明授权

US09505131B2 Elastic-deformation-compensation control device and control method for articulated robot 有权
标题翻译：铰接式机器人弹性变形补偿控制装置及控制方法
公开(公告)号：US09505131B2
公开(公告)日：2016-11-29
申请号：US14403320
申请日：2013-05-30
申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)
发明人： Yoshiharu Nishida , Takashi Wada , Yoshihide Inoue , Shuichi Inada
IPC分类号： B25J9/16 , B23K9/02 , B25J9/06
CPC分类号： B25J9/1692 , B23K9/0216 , B25J9/06 , B25J9/1641 , G05B2219/39186 , G05B2219/39201 , G05B2219/41166 , G05B2219/45104 , G05B2219/49384 , Y10S901/02
摘要： In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (θmc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (θmd). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).
摘要翻译：在弹性变形补偿控制装置（10）中，第一动力特性计算部（300）对从电动机角度指令值运算部（1）输出的电动机角度指令值（θmc）进行滤波处理 600），并输出经处理的电动机角度目标值（θmd）。第二动态特性计算单元（400）具有截止频率低于第一动力特性计算单元（300）的截止频率的高频截止特性，对轴向力的输出进行滤波处理扭矩计算单元（200），并输出经处理的轴向力转矩补偿值（fd）。

5. 发明申请

US20150227119A1 CONTROL DEVICE FOR INVERSE RESPONSE SYSTEM 有权
标题翻译：反向响应系统的控制装置
公开(公告)号：US20150227119A1
公开(公告)日：2015-08-13
申请号：US14433531
申请日：2013-10-15
申请人： KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
发明人： Yoshiharu Nishida
IPC分类号： G05B11/36 , B60C1/00
CPC分类号： G05B11/36 , B60C1/00 , G01M17/022
摘要： Provided is a control device (1) for controlling a control target that comprises an inverse response system (2) having inverse response characteristics, i.e., in which the initial response rocks in the inverse direction from the input change direction. The control device (1) comprises an inverse response compensation system (5) that compensates for the inverse response characteristics in the control target. This inverse response compensation system (5) is configured to calculate a comparison value for the output of the control target and the output of a control target from which a portion or all of the unstable zeros have been removed and feed the calculated comparison value back to the input side of the control target.
摘要翻译：提供一种用于控制控制目标的控制装置（1），其包括具有反向响应特性的逆响应系统（2），即其中初始响应沿着从输入改变方向沿相反方向摇摆。控制装置（1）包括补偿控制目标中的反向响应特性的反向响应补偿系统（5）。该反向响应补偿系统（5）被配置为计算用于控制目标的输出和已经从其中去除了部分或全部不稳定零的控制目标的输出的比较值，并将所计算的比较值返回到控制目标的输入端。

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